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JP2003536356A - How to calculate the rotational position of the drive shaft of a DC motor - Google Patents

How to calculate the rotational position of the drive shaft of a DC motor

Info

Publication number
JP2003536356A
JP2003536356A JP2002502896A JP2002502896A JP2003536356A JP 2003536356 A JP2003536356 A JP 2003536356A JP 2002502896 A JP2002502896 A JP 2002502896A JP 2002502896 A JP2002502896 A JP 2002502896A JP 2003536356 A JP2003536356 A JP 2003536356A
Authority
JP
Japan
Prior art keywords
current ripple
motor
detected
current
time span
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2002502896A
Other languages
Japanese (ja)
Inventor
オッテ・シュテファン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leopold Kostal GmbH and Co KG
Original Assignee
Leopold Kostal GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leopold Kostal GmbH and Co KG filed Critical Leopold Kostal GmbH and Co KG
Publication of JP2003536356A publication Critical patent/JP2003536356A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/0094—Arrangements for regulating or controlling the speed or torque of electric DC motors wherein the position is detected using the ripple of the current caused by the commutator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E05F15/695—Control circuits therefor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/55—Windows

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Direct Current Motors (AREA)
  • Control Of Electric Motors In General (AREA)
  • Motor And Converter Starters (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

(57)【要約】 電機子電流信号中に含まれる電流リプルを評価することによって直流電動機の駆動軸の回転位置を算定する方法において、・直流電動機の通電時と最初の電流リプルの検出時との間で経過する時間スパン(tStart ) を算定すること、・最後の電流リプルの検出時と直流電動機の電機子の停止時との間で経過する時間スパン(tStop) を算定すること、この場合、この直流電動機は、この直流電動機の遮断と同時に発電動作に切り替えられて、さらなる電流リプルが検出される、・各時間スパン(tStart , t Stop) に対応する電流リプル成分を算出すること、及び、・これらの電流リプル成分を電流リプルのカウントの評価に算入することを特徴とする方法。 (57) [Summary] A method for calculating the rotational position of the drive shaft of a DC motor by evaluating the current ripple included in the armature current signal, comprising the steps of: when the DC motor is energized and when the first current ripple is detected; Calculating the time span (t Start ) that elapses between the time when the last current ripple is detected and the armature of the DC motor is stopped (t Stop ); In this case, the DC motor is switched to the power generation operation at the same time as the cutoff of the DC motor, and further current ripple is detected.The current ripple component corresponding to each time span (t Start , t Stop ) is calculated. And a method characterized by including these current ripple components in the evaluation of the current ripple count.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】 本発明は、電機子電流信号中に含まれる電流リプルを評価することによって直
流電動機の駆動軸の回転位置を算定する方法に関する。The present invention relates to a method for calculating the rotational position of a drive shaft of a DC motor by evaluating the current ripple contained in the armature current signal.

【０００２】 直流電動機の電機子信号は、いわゆる直流成分とこの直流成分に重畳している
交流成分を含む。この交流成分は、直流電動機の稼働時に直流電動機の磁石（の
場），電機子巻線及び整流子による共同作用の結果として直流電動機の稼働時に
発生する。このことは、誘導電圧の短期間の変化の形で現れる。電機子電流信号
の正弦波部分が、その変化から生じる。この電機子電流信号中に含まれる電流ピ
ーク−以下電流リプルという−が、電機子の回転時に整流子片の数に相当する頻
度で発生する。例えば電機子が 10 個の整流子片を有するならば、それに応じて
10 個の電流リプルを電機子電流信号中で識別することができる。したがって、
これらの電流リプルのカウントは、直流電動機の電機子の実際の回転位置に関す
る情報を伝えると同時に、所定の運動区間内でこの直流電動機によって駆動され
る要素に関する情報も伝えることができる。この目的のために、アナログ式の電
機子電流信号がデジタル化されて、それに応じたカウントが実行され得る。この
ような方法は、例えばウィンドウハンドル及びスライディングルーフ又はウィン
ドウハンドル若しくはスライディングルーフ用に設けられているようなサーボ駆
動機構を制御する例えば自動車産業の分野で使用される。例えば（自動車の）ウ
ィンドウの位置の検出における重要な事柄は、（手などの）挟み込みの保護がこ
のウィンドウの閉まる際に解除されてしまうことがある点である。すなわち、電
動機が（その挟み込み時の）負荷の上昇のせいで停止することなしに、ウィンド
ウが、そのウィンドウの上側のフレーム内とそこに設けられたシール内とに沿っ
て完全に係入され得るようにするために、このような解除は必要である。電流リ
プルを不正確にカウントしてウィンドウの位置を算定した場合は、その挟み込み
の保護が早すぎて又は遅すぎて解除されてしまうことがある。The armature signal of a DC motor includes a so-called DC component and an AC component superimposed on this DC component. This AC component is generated during operation of the DC motor as a result of the combined action of the magnet (field), armature winding and commutator of the DC motor during operation of the DC motor. This manifests itself in the form of short-term changes in the induced voltage. The sinusoidal portion of the armature current signal results from the change. A current peak included in the armature current signal-hereinafter referred to as a current ripple-is generated at a frequency corresponding to the number of commutator pieces when the armature rotates. For example, if the armature has 10 commutator strips, then
Ten current ripples can be identified in the armature current signal. Therefore,
These current ripple counts can convey information about the actual rotational position of the armature of the DC motor, as well as information about the elements driven by this DC motor within a given movement interval. For this purpose, the analog armature current signal can be digitized and a corresponding count can be performed. Such a method is used, for example, in the field of the automobile industry for controlling window handles and sliding roofs or servo-drives such as those provided for window handles or sliding roofs. An important thing, for example, in detecting the position of a window (in an automobile) is that the protection of the pinch (in the hand, etc.) may be released when the window is closed. That is, the window can be fully engaged along the upper frame of the window and the seal provided therein without the electric motor stopping (during its pinching) due to the increased load. In order to do so, such a release is necessary. If the current ripple is incorrectly counted to determine the window position, the pinch protection may be released too early or too late.

【０００３】 位置の精密測定中の不正確さは、直流電動機の通電時の電動機の始動時と直流
電動機の遮断時の電動機の停止時とによって生じる。最初の電流リプルが、直流
電送機の始動においてこの直流電動機の電機子の所定の回転運動の経過後になっ
て初めて検出可能であることが、これらの不正確さの原因である。このことは、
電動機の停止時にも当てはまる。この場合、従来の方法では、直流電動機の遮断
後の電流リプルの検出が不可能である。そのため、電動機の停止段階中の電機子
の運動が、位置の測定中に検出され得ない。Inaccuracy during precise position measurement is caused by starting the motor when the DC motor is energized and stopping the motor when the DC motor is cut off. The reason for these inaccuracies is that the first current ripple can only be detected at the start of the DC transmission after a certain rotary movement of the armature of this DC motor has elapsed. This is
The same applies when the motor is stopped. In this case, the conventional method cannot detect the current ripple after the DC motor is cut off. Therefore, the movement of the armature during the motor stop phase cannot be detected during position measurement.

【０００４】 本発明の課題は、説明したこの従来の技術から出発して、位置測定がより高い
精度で可能であるように構成して、冒頭で述べた種類の方法を改良することにあ
る。The object of the present invention is to start from this described prior art and to improve the method of the type mentioned at the outset by configuring it so that position measurement is possible with greater accuracy.

【０００５】 この課題は、本発明により、冒頭で述べた種類の方法によって解決される。こ
の方法は、 ・直流電動機の通電時と最初の電流リプルの検出時との間で経過する時間スパン を算定すること、 ・最後の電流リプルの検出時と直流電動機の電機子の停止時との間で経過する時 間スパンを算定すること、この場合、この直流電動機は、この直流電動機の遮 断と同時に発電動作に切り替えられて、さらなる電流リプルが検出される、 ・各時間スパンに対応する電流リプル成分を算出すること、及び、 ・これらの電流リプル成分を電流リプルのカウントの評価に算入することを特徴
とする。This problem is solved according to the invention by a method of the kind mentioned at the outset. This method: -Calculate the time span that elapses between when the DC motor is energized and when the first current ripple is detected.-When the last current ripple is detected and when the DC motor armature is stopped. Calculating the time span that elapses between the DC motors, in which case this DC motor is switched to generator operation at the same time as the DC motor is interrupted and further current ripple is detected, corresponding to each time span Calculating current ripple components, and-calculating these current ripple components into the evaluation of the current ripple count.

【０００６】 この方法の請求項の対象では、電流リプルが電動機の始動時にまだ検出不可能
である運動成分も、計数器のカウント結果に算入される。このこと（この運動成
分）は、例えば最初の電流リプルが生成されるように回転させなければならない
電機子の回転角度値である。この回転角度値は、（この最初の電流リプルと）相
前後して続く２番目の電流リプルとの回転角度差よりも基本的に小さい。したが
って、直流電動機のこの最初の始動段階中では、電機子が、最初の電流リプルを
検出するまでに１つの電流リプルに算入される周期よりも小さい回転角度値だけ
回転される。この最初の電流リプルを検出するまでの電動機のこの最初の始動段
階中の電流リプル成分が、どの程度の大きさかを評価するため、直流電動機の通
電時、すなわち投入時と最初の電流リプルの検出時との間で経過する時間スパン
が、まず最初に算定される。次のステップでは、この時間スパンに相当する電流
リプル成分が、実際に検出された電流リプルの特性値を利用して評価される。直
流電動機の停止時、つまり直流電動機の遮断時にも、同様に実行される。この場
合、直流電動機が、その遮断時の最初のステップ中に発電動作に切り替えられる
。直流電動機がその発電動作に切り替わると、電流リプルの検出が、停止する電
機子によって引続き可能である。最後の電流リプルの検出時と電機子の停止時と
の間で経過する時間スパンが、電動機の始動時と同様に直流電動機の遮断時にも
算定される。引続き、これらの時間スパンに相当する電流リプル成分が評価され
る。According to the subject matter of this method, motion components whose current ripple is still undetectable at motor start-up are also included in the counting result of the counter. This (this motion component) is, for example, the angle of rotation value of the armature that must be rotated so that the first current ripple is produced. This rotation angle value is basically smaller than the rotation angle difference between the second current ripple (following this first current ripple) and the succeeding second current ripple. Therefore, during this initial start-up phase of the DC motor, the armature is rotated by a rotational angle value that is less than the period included in one current ripple until the first current ripple is detected. In order to evaluate how much the current ripple component during this first starting phase of the motor until this first current ripple is detected, the DC motor is energized, i.e. at start-up and when the first current ripple is detected. The time span that elapses between hours is first calculated. In the next step, the current ripple component corresponding to this time span is evaluated using the characteristic value of the actually detected current ripple. The same operation is performed when the DC motor is stopped, that is, when the DC motor is cut off. In this case, the DC motor is switched to a power generating operation during the first step when it is shut down. When the DC motor is switched to its power generating operation, the detection of current ripple can continue with the armature being stopped. The time span that elapses between when the last current ripple is detected and when the armature is stopped is calculated when the DC motor is shut off as when the motor is started. The current ripple component corresponding to these time spans is subsequently evaluated.

【０００７】 電動機の始動段階と電動機の停止段階でのそれぞれの電流リプル成分の評価は
、所望の位置測定を十分特定して実現可能にするのに十分である。さらに、この
ような評価には、最も簡略化された周辺条件によって作動され得るという利点が
ある。その結果、負担、特に評価ユニット、例えばマイクロプロセッサにかかる
要求が僅かで済む。The evaluation of the respective current ripple components during the motor start-up phase and the motor stop-phase is sufficient to make the desired position measurement sufficiently specific and feasible. Moreover, such an evaluation has the advantage that it can be operated with the most simplified ambient conditions. As a result, the burden is reduced, in particular the demands placed on the evaluation unit, eg the microprocessor.

【０００８】 これらの両電流リプル成分は、それぞれの時間スパン−電動機の始動段階又は
電動機の停止段階−に割当てられて検出された所定の基準電流リプルの周期と周
期との間を比較することによって目的に合わせて算出される。電動機の重要な特
性データが、定数としてこの比較に算入される。この場合、例えば、ここで問題
にしているこれらの時間スパン内では、負荷が一定である。所定の数の電流リプ
ルが最初に検出された電流リプルの後に検出される電流リプルが、この最初の電
流リプルを検出するまでの電動機の始動段階の間に電流リプル成分を算出するた
めの基準電流リプルとして有効に利用される。このことは、電動機の始動段階中
の検出誤差がこの最初の電流リプルの検出後にも電流成分の算定に算入されない
ようにするために実行される。電動機が遮断されるか又は切り替わる直前に検出
された電流リプルが、電動機の停止に関する時間スパン内の電流リプル成分を算
定する基準電流リプルとして有効に利用される。Both of these current ripple components are assigned by their respective time spans--motor start phase or motor stop phase--and are compared by comparing the period with a predetermined reference current ripple detected. It is calculated according to the purpose. The important characteristic data of the motor are included in this comparison as constants. In this case, for example, the load is constant within these time spans of interest here. The reference current for calculating the current ripple component during the starting phase of the motor until the detection of this first current ripple is the current ripple detected after the predetermined number of current ripples are detected first. It is effectively used as a ripple. This is done so that detection errors during the starting phase of the motor are not taken into account in the calculation of the current component even after the detection of this first current ripple. The current ripple detected immediately before the motor is cut off or switched is effectively used as a reference current ripple for calculating the current ripple component within the time span related to the motor stop.

【０００９】 図１は、アナログ式に濾波された電機子電流信号とその下にあるこの電機子電
流信号から導き出されたデジタル式の電流リプル信号とをグラフで示す。さらに
、電流リプル成分が、電動機の始動ｔStart の間の位相に対して測定されなけれ
ばならない点に特徴がある。所望の電流リプル成分を測定できるようにするため
、基準電流リプルとして使用される周期ｔPer も識別可能である。FIG. 1 graphically illustrates the analog filtered armature current signal and the digital current ripple signal derived from this underlying armature current signal. It is further characterized in that the current ripple component has to be measured with respect to the phase during the motor start t Start . The period t Per used as reference current ripple is also identifiable in order to be able to measure the desired current ripple component.

【００１０】 この最初の時間スパン内の電流リプル成分がどの程度の大きさかの算出は、例
えば以下の方法で算出され得る： 電流リプル成分＝ｔStart ・ｋ／ｔPer この場合、ｋは、電動機特性データ定数を示し、ｔPer は、基準電流リプルの
周期を示す。The calculation of the magnitude of the current ripple component in this first time span can be calculated, for example, by the following method: Current ripple component = t Start · k / t Per In this case, k is the electric motor. A characteristic data constant is shown, and t Per is a cycle of reference current ripple.

【００１１】 図２は、電動機が停止したときのアナログ式に濾波された電機子電流信号とそ
こから算定された電流リプルとを対応するグラフで示す。直流電動機が、時点ｔ1 にその直流電動機の発電動作に切り替えられる。その結果、電流リプルが、停
止段階に電機子電流信号中で検出可能である。電機子の或る程度の回転運動が、
−この図中にｔStopで示された−最後の段階で確かにまだ存在するものの、電流
リプルはもはや検出できない。この最後の回転運動が、どれだけの数の電流リプ
ル成分に相当するのかを評価するため、電動機の通電時の最後に検出された回転
運動が、基準電流リプルとして利用される。そして、周期ｔPer が、そこから算
定される。電流リプル成分が、電動機の始動段階ｔStart 中に算定されるときと
同様に、電流リプル成分が、電動機の停止に関するこの時間スパンｔStop中に同
様に算定される。この場合、この算定でも、電動機の重要な一定の特性データ、
例えば負荷を基礎にする。この評価は、以下に再び示された式にしたがって実行
され得る： 電流リプル成分＝ｔStop・ｋ／ｔPer この場合、同様に、ｋは、電動機の重要な特性データを含んだ定数である。FIG. 2 shows in a corresponding graph the analog filtered armature current signal when the motor is stopped and the current ripple calculated therefrom. The DC motor is switched to the power generating operation of the DC motor at time t 1 . As a result, current ripple can be detected in the armature current signal during the stop phase. Some rotational movement of the armature
-Indicated by tStop in this figure-although still present at the last stage, the current ripple can no longer be detected. In order to evaluate how many current ripple components this last rotary movement corresponds to, the last detected rotary movement when the motor is energized is used as a reference current ripple. The period t Per is then calculated from it. The current ripple component is likewise calculated during this time span t Stop for stopping the motor, as is the case when the current ripple component is calculated during the start-up phase t Start of the motor. In this case, even in this calculation, important certain characteristic data of the motor,
For example on a load basis. This evaluation can be carried out according to the equation shown again below: Current ripple component = t Stop · k / t Per In this case, k is likewise a constant containing important characteristic data of the motor.

【００１２】 不正確さが本発明の方法によって低減されていることが、この発明の説明から
分かる。電流リプルが生成されて検出され得ることなしに、直流電動機の電機子
の回転運動が、この電動機の始動時に又はこの電動機の停止時に或る特定の割合
だけ起こることによって、これらの不正確さは発生する。これらのリプル成分は
、例えば固有の計数器内でカウントされ得る。この場合、この計数器が全てのカ
ウント結果を有するならば、この計数器は、１つの計数パルスを本来の電流リプ
ル計数器に転送する。It can be seen from the description of the invention that inaccuracies are reduced by the method of the invention. These inaccuracies are caused by the fact that the rotary motion of the armature of the DC motor takes place only at a certain rate when the motor is started or when the motor is stopped, without current ripples being generated and detectable. Occur. These ripple components can be counted, for example, in a unique counter. In this case, if the counter has all the counting results, it transfers one counting pulse to the original current ripple counter.

【図面の簡単な説明】[Brief description of drawings]

【図１】 アナログ式に濾波された電機子電流信号とその下にあるこの電機子電流信号か
ら導き出されたデジタル式の電流リプル信号とをグラフで示す。FIG. 1 graphically illustrates an analog filtered armature current signal and an underlying digital current ripple signal derived from the armature current signal.

【図２】 電動機が停止したときのアナログ式に濾波された電機子電流信号とそこから算
定された電流リプルとを対応するグラフで示す。FIG. 2 shows in a corresponding graph the analog filtered armature current signal when the motor is stopped and the current ripple calculated therefrom.

───────────────────────────────────────────────────── フロントページの続き (81)指定国 ＥＰ(ＡＴ，ＢＥ，ＣＨ，ＣＹ， ＤＥ，ＤＫ，ＥＳ，ＦＩ，ＦＲ，ＧＢ，ＧＲ，ＩＥ，Ｉ Ｔ，ＬＵ，ＭＣ，ＮＬ，ＰＴ，ＳＥ)，ＡＥ，ＡＧ，Ａ Ｌ，ＡＭ，ＡＴ，ＡＵ，ＡＺ，ＢＡ，ＢＢ，ＢＧ，ＢＲ ，ＢＹ，ＣＡ，ＣＨ，ＣＮ，ＣＲ，ＣＵ，ＣＺ，ＤＥ， ＤＫ，ＤＭ，ＤＺ，ＥＥ，ＥＳ，ＦＩ，ＧＢ，ＧＤ，Ｇ Ｅ，ＧＨ，ＧＭ，ＨＲ，ＨＵ，ＩＤ，ＩＬ，ＩＮ，ＩＳ ，ＪＰ，ＫＥ，ＫＧ，ＫＰ，ＫＲ，ＫＺ，ＬＣ，ＬＫ， ＬＲ，ＬＳ，ＬＴ，ＬＵ，ＬＶ，ＭＡ，ＭＤ，ＭＧ，Ｍ Ｋ，ＭＮ，ＭＷ，ＭＸ，ＮＯ，ＮＺ，ＰＬ，ＰＴ，ＲＯ ，ＲＵ，ＳＤ，ＳＥ，ＳＧ，ＳＩ，ＳＫ，ＳＬ，ＴＪ， ＴＭ，ＴＲ，ＴＴ，ＴＺ，ＵＡ，ＵＧ，ＵＳ，ＵＺ，Ｖ Ｎ，ＹＵ，ＺＡ，ＺＷ (72)発明者 オッテ・シュテファン ドイツ連邦共和国、ヴィッテン、ヴィデイ ストラーセ、９ Ｆターム(参考） 5H571 AA03 BB07 CC04 FF06 GG01 JJ02 JJ13 JJ16 LL22 MM04─────────────────────────────────────────────────── ─── Continued front page    (81) Designated countries EP (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, I T, LU, MC, NL, PT, SE), AE, AG, A L, AM, AT, AU, AZ, BA, BB, BG, BR , BY, CA, CH, CN, CR, CU, CZ, DE, DK, DM, DZ, EE, ES, FI, GB, GD, G E, GH, GM, HR, HU, ID, IL, IN, IS , JP, KE, KG, KP, KR, KZ, LC, LK, LR, LS, LT, LU, LV, MA, MD, MG, M K, MN, MW, MX, NO, NZ, PL, PT, RO , RU, SD, SE, SG, SI, SK, SL, TJ, TM, TR, TT, TZ, UA, UG, US, UZ, V N, YU, ZA, ZW (72) Inventor Otte Stefan             Germany, Witten, Vidi             Strasse, 9 F term (reference) 5H571 AA03 BB07 CC04 FF06 GG01                       JJ02 JJ13 JJ16 LL22 MM04

Claims (4)

【特許請求の範囲】[Claims] 【請求項１】 電機子電流信号中に含まれる電流リプルを評価することによ
って直流電動機の駆動軸の回転位置を算定する方法において、 ・直流電動機の通電時と最初の電流リプルの検出時との間で経過する時間スパン (tStart ) を算定すること、 ・最後の電流リプルの検出時と直流電動機の電機子の停止時との間で経過する時 間スパン(tStop) を算定すること、この場合、この直流電動機は、この直流電 動機の遮断と同時に発電動作に切り替えられて、さらなる電流リプルが検出さ れる、 ・各時間スパン(tStart , t Stop) に対応する電流リプル成分を算出すること、 及び、 ・これらの電流リプル成分を電流リプルのカウントの評価に算入することを特徴
とする方法。1. A method for calculating a rotational position of a drive shaft of a DC motor by evaluating a current ripple included in an armature current signal, comprising: Calculating the time span (t Start ) that elapses between the two: -calculating the time span (t Stop ) that elapses between the time when the last current ripple is detected and the armature of the DC motor is stopped. In this case, this DC motor is switched to the power generation operation at the same time as this DC motor is cut off, and further current ripple is detected. ・ Calculate the current ripple component corresponding to each time span (t Start , t Stop ). And a method characterized by including these current ripple components in the evaluation of the current ripple count. 【請求項２】 各時間スパン(tStart , t Stop) に対応する電流成分を算出
するため、それぞれの時間スパン(tPer ) に割当てられて検出された所定の基準
電流リプルの周期と周期との間が比較され、この場合、電動機の重要な特性デー
タが、定数（ｋ）としてこの比較で算入されることを特徴とする請求項１に記載
の方法。2. In order to calculate a current component corresponding to each time span (t Start , t Stop ), a predetermined reference current ripple cycle and cycle detected by being assigned to each time span (t Per ), The method according to claim 1, characterized in that between the two, the important characteristic data of the electric motor are included in this comparison as a constant (k). 【請求項３】 電動機の始動に関する時間スパン(tStart ) 内の電流リプル
成分を算定するため、最初の電流リプルの検出後に検出された電流リプルが、基
準電流リプルとして利用されることを特徴とする請求項２に記載の方法。3. The current ripple detected after the detection of the first current ripple is used as a reference current ripple to calculate the current ripple component within a time span (t Start ) relating to the start of the electric motor. The method according to claim 2, wherein 【請求項４】 電動機の停止に関する時間スパン(tStop) 内の電流リプル成
分を算定するため、この電動機が遮断されるか又は切り替わる直前に検出された
電流リプルが、基準電流リプルとして利用されることを特徴とする請求項２又は
３に記載の方法。4. The current ripple detected immediately before the motor is switched off or switched is used as a reference current ripple in order to calculate the current ripple component within a time span (t Stop ) relating to the stop of the motor. The method according to claim 2 or 3, characterized in that:
JP2002502896A 2000-06-06 2001-06-01 How to calculate the rotational position of the drive shaft of a DC motor Pending JP2003536356A (en)

Applications Claiming Priority (3)

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DE10028035.8 2000-06-06
DE10028035A DE10028035A1 (en) 2000-06-06 2000-06-06 Rotation position determining method for DC motor shaft, involves determining relevant current ripple component for each time first and last current ripples are detected, which are included in current ripple evaluation
PCT/EP2001/006217 WO2001095472A1 (en) 2000-06-06 2001-06-01 Method for determining the rotational position of the drive shaft of a direct current motor

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